#-------------------------------------------------
#
# Project created by 华磊　２０１７０７０１
#
#-------------------------------------------------

QT += xml
QT += core network
#DEFINES  += D_USE_ROS
#DEFINES += D_USE_MD5_CHECK
DEFINES += D_USE_UI
#DEFINES += D_USE_MOTION_UNIT_TEST //单元测试时打开，集成时一定要关掉。
DEFINES += QT_NO_PRINTER
DEFINES +=D_USE_JOINT_INTERPOLATION

contains( DEFINES, D_USE_MOTION_UNIT_TEST ){
message("motion unit test on !")
}else{
message("motion unit test off !!")

}

contains( DEFINES, D_USE_UI ){
QT    +=  gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
}

INCLUDEPATH += $$PWD
DEPENDPATH += $$PWD

TARGET = MotionServer
TEMPLATE = lib
CONFIG += staticlib
DEFINES += MOTIONSERVER_LIBRARY

#include (Axis/Axis.pri)

SOURCES += $$PWD/mccontrollerinterpreter.cpp \
    $$PWD/mccontrollerthread.cpp \
    $$PWD/jogcontrol.cpp \
    $$PWD/robotattribute.cpp \
    $$PWD/TestUi/motionform.cpp \
    $$PWD/TestUi/motorstatusview.cpp \
    $$PWD/TestUi/sourcePlot/qcustomplot.cpp \
    $$PWD/TestUi/sourcePlot/qcustomplotzoom.cpp \
    $$PWD/TestUi/balljoystick.cpp \
    trajectoryserver.cpp





HEADERS += $$PWD/mccontrollerinterpreter.h\
    $$PWD/mccontrollerthread.h \
    $$PWD/controllercommondefine.h \
    $$PWD/jogcontrol.h \
    $$PWD/robotattribute.h \
    $$PWD/TestUi/motionform.h \
    $$PWD/TestUi/motorstatusview.h \
    $$PWD/TestUi/includePlot/qcustomplot.h \
    $$PWD/TestUi/includePlot/qcustomplotzoom.h \
    $$PWD/TestUi/balljoystick.h \
    $$PWD/TestUi/ui_motorstatusview.h \
    ../../include/MacroDefine/GeneralDefine.h \
    ../../include/MacroDefine/globalDefine.h \
    trajectoryserver.h

INCLUDEPATH +=../CarvingModule
INCLUDEPATH +=../BeltTrackManager/
INCLUDEPATH +=../PidRegulator/
INCLUDEPATH +=../VisionMatch
INCLUDEPATH +=../Cu1PositionModule
INCLUDEPATH += ../XmlParse
INCLUDEPATH +=../MathLicenseManager
INCLUDEPATH +=../PositionRegulator/
INCLUDEPATH +=../CoordinateModule/
INCLUDEPATH +=../AxisObject/
INCLUDEPATH +=../HmiGsoapQt/
INCLUDEPATH +=../DomParser
INCLUDEPATH +=../Md5Check
INCLUDEPATH += /usr/local/include/kdl
DEPENDPATH += ../../include/kdl
INCLUDEPATH += ../../include/MacroDefine
INCLUDEPATH += ../../include/
DEPENDPATH += ../../include/
INCLUDEPATH += ../../include/actions/INC
INCLUDEPATH += ../../include/actions/INC/Linux
INCLUDEPATH += ../../include/ethercat-igh

#INCLUDEPATH += ../../include/alLib/Eigen
#DEPENDPATH += ../../include/alLib/Eigen
#INCLUDEPATH += ../../include/alLib/gsl
#DEPENDPATH += ../../include/alLib/gsl
#INCLUDEPATH += ../../include/alLib
#DEPENDPATH += ../../include/alLib
INCLUDEPATH +=/usr/include/eigen3

INCLUDEPATH +=../RosClient
INCLUDEPATH +=../PointData
INCLUDEPATH +=../RegData
INCLUDEPATH +=../EcatCore
INCLUDEPATH +=../VrepRemoteControlor
INCLUDEPATH +=../MessageLog
INCLUDEPATH +=../Md5Check
INCLUDEPATH +=../RosApi

INCLUDEPATH +=../VehicleControl
LIBS += -L../../lib -lVehicleControl

INCLUDEPATH += ../../include/vehicle

FORMS += \
    $$PWD/TestUi/motorstatusview.ui \
    $$PWD/TestUi/motionform.ui \
    TestUi/balljoystick.ui


contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use ROS')

INCLUDEPATH+=/opt/ros/kinetic/include
INCLUDEPATH+=/home/tcr/tcr100_ws/devel/include
INCLUDEPATH +=../HmiGsoapQt

}else{

}


#DEFINES += BUILD_ARM
DEFINES += BUILD_X86_LINUX
#DEFINES += BUILD_X86_WINDOWS #为什么其它库pro也要定义这个才起作用。


contains( DEFINES, BUILD_X86_WINDOWS ){
message("project use BUILD_X86_WINDOWS !")
}
contains( DEFINES, BUILD_X86_LINUX ){
message("project use BUILD_X86_LINUX !")

}
contains( DEFINES, BUILD_ARM ){
message("project use BUILD_ARM !")
}



contains( DEFINES, BUILD_X86_WINDOWS ){
message("project use BUILD_X86_WINDOWS !")
DESTDIR =/agvwork/AgvFundation/fundation/lib/x86_WINDOWS
#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory_windows
MOC_DIR +=../../build/tmpBuildDirectory_windows
OBJECTS_DIR += ../../build/tmpBuildDirectory_windows
RCC_DIR += ../../build/tmpBuildDirectory_windows
}

contains( DEFINES, BUILD_X86_LINUX ){
message("project use BUILD_X86_LINUX !")
DESTDIR =/agvwork/AgvFundation/fundation/lib

#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory
MOC_DIR +=../../build/tmpBuildDirectory
OBJECTS_DIR += ../../build/tmpBuildDirectory
RCC_DIR += ../../build/tmpBuildDirectory
}

contains( DEFINES, BUILD_ARM ){
message("project use BUILD_ARM !")
DESTDIR =/agvwork/AgvFundation/fundation/lib-arm

#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory_arm
MOC_DIR +=../../build/tmpBuildDirectory_arm
OBJECTS_DIR += ../../build/tmpBuildDirectory_arm
RCC_DIR += ../../build/tmpBuildDirectory_arm
}

